vendor/box2d: update to 3.1.1

vendor/box2d/box2d.odin

@@ -4,6 +4,8 @@ package vendor_box2d
 import "base:intrinsics"
 import "core:c"
 
+_ :: intrinsics
+
 when ODIN_ARCH == .wasm32 || ODIN_ARCH == .wasm64p32 {
 	@(private) VECTOR_EXT :: "_simd" when #config(VENDOR_BOX2D_ENABLE_SIMD128, intrinsics.has_target_feature("simd128")) else ""
 } else {
@@ -331,7 +333,7 @@ MakeOffsetProxy :: proc "c" (points: []Vec2, radius: f32, position: Vec2, rotati
 @(link_prefix="b2", default_calling_convention="c", require_results)
 foreign lib {
 	// Perform a linear shape cast of shape B moving and shape A fixed. Determines the hit point, normal, and translation fraction.
-	// You may optionally supply an array to hold debug data.
+	// Initially touching shapes are treated as a miss.
 	ShapeCast :: proc(#by_ptr input: ShapeCastPairInput) -> CastOutput ---
 
 	// Evaluate the transform sweep at a specific time.
@@ -481,12 +483,12 @@ foreign lib {
  */
 
 @(require_results)
-SolvePlanes :: proc(position: Vec2, planes: []CollisionPlane) -> PlaneSolverResult {
+SolvePlanes :: proc(targetDelta: Vec2, planes: []CollisionPlane) -> PlaneSolverResult {
 	foreign lib {
-		b2SolvePlanes :: proc "c" (position: Vec2, planes: [^]CollisionPlane, count: i32) -> PlaneSolverResult ---
+		b2SolvePlanes :: proc "c" (targetDelta: Vec2, planes: [^]CollisionPlane, count: i32) -> PlaneSolverResult ---
 	}
 
-	return b2SolvePlanes(position, raw_data(planes), i32(len(planes)))
+	return b2SolvePlanes(targetDelta, raw_data(planes), i32(len(planes)))
 }
 
 @(require_results)
@@ -550,7 +552,6 @@ foreign lib {
 
 	// Cast a ray into the world to collect shapes in the path of the ray.
 	// Your callback function controls whether you get the closest point, any point, or n-points.
-	// The ray-cast ignores shapes that contain the starting point.
 	//	@note The callback function may receive shapes in any order
 	//	@param worldId The world to cast the ray against
 	//	@param origin The start point of the ray
@@ -561,7 +562,7 @@ foreign lib {
 	//	@return traversal performance counters
 	World_CastRay                 :: proc(worldId: WorldId, origin: Vec2, translation: Vec2, filter: QueryFilter, fcn: CastResultFcn, ctx: rawptr) -> TreeStats ---
 
-	// Cast a ray into the world to collect the closest hit. This is a convenience function.
+	// Cast a ray into the world to collect the closest hit. This is a convenience function. Ignores initial overlap.
 	// This is less general than b2World_CastRay() and does not allow for custom filtering.
 	World_CastRayClosest          :: proc(worldId: WorldId, origin: Vec2, translation: Vec2, filter: QueryFilter) -> RayResult ---
 
@@ -637,13 +638,6 @@ foreign lib {
 	//	@note Advanced feature
 	World_SetContactTuning        :: proc(worldId: WorldId, hertz: f32, dampingRatio: f32, pushSpeed: f32) ---
 
-	// Adjust joint tuning parameters
-	// @param worldId The world id
-	// @param hertz The contact stiffness (cycles per second)
-	// @param dampingRatio The contact bounciness with 1 being critical damping (non-dimensional)
-	// @note Advanced feature
-	World_SetJointTuning          :: proc(worldId: WorldId, hertz: f32, dampingRatio: f32) ---
-
 	// Set the maximum linear speed. Usually in m/s.
 	World_SetMaximumLinearSpeed   :: proc(worldId: WorldId, maximumLinearSpeed: f32) ---
 
@@ -771,6 +765,7 @@ foreign lib {
 
 	// Set the velocity to reach the given transform after a given time step.
 	// The result will be close but maybe not exact. This is meant for kinematic bodies.
+	// The target is not applied if the velocity would be below the sleep threshold.
 	// This will automatically wake the body if asleep.
 	Body_SetTargetTransform         :: proc(bodyId: BodyId, target: Transform, timeStep: f32) ---
 
@@ -1068,6 +1063,12 @@ foreign lib {
 	// Get the shape material identifier
 	Shape_GetMaterial              :: proc(shapeId: ShapeId) -> c.int ---
 
+	// Set the shape surface material
+	Shape_SetSurfaceMaterial       :: proc(shapeId: ShapeId, surfaceMaterial: SurfaceMaterial) ---
+
+	// Get the shape surface material
+	Shape_GetSurfaceMaterial       :: proc(shapeId: ShapeId) -> SurfaceMaterial ---
+
 	// Get the shape filter
 	Shape_GetFilter                :: proc(shapeId: ShapeId) -> Filter ---
 
@@ -1258,12 +1259,30 @@ foreign lib {
 	// Get the world that owns this joint
 	Joint_GetWorld            :: proc(jointId: JointId) -> WorldId ---
 
+	// Set the local anchor on bodyA
+	Joint_SetLocalAnchorA     :: proc(jointId: JointId, localAnchor: Vec2) ---
+
 	// Get the local anchor on bodyA
 	Joint_GetLocalAnchorA     :: proc(jointId: JointId) -> Vec2 ---
 
+	// Set the local anchor on bodyB
+	Joint_SetLocalAnchorB     :: proc(jointId: JointId, localAnchor: Vec2) ---
+
 	// Get the local anchor on bodyB
 	Joint_GetLocalAnchorB     :: proc(jointId: JointId) -> Vec2 ---
 
+	// Get the joint reference angle in radians (revolute, prismatic, and weld)
+	Joint_GetReferenceAngle   :: proc(jointId: JointId) -> f32 ---
+
+	// Set the joint reference angle in radians, must be in [-pi,pi]. (revolute, prismatic, and weld)
+	Joint_SetReferenceAngle   :: proc(jointId: JointId, angleInRadians: f32) ---
+
+	// Set the local axis on bodyA (prismatic and wheel)
+	Joint_SetLocalAxisA       :: proc(jointId: JointId, localAxis: Vec2) ---
+
+	// Get the local axis on bodyA (prismatic and wheel)
+	Joint_GetLocalAxisA       :: proc(jointId: JointId) -> Vec2 ---
+
 	// Toggle collision between connected bodies
 	Joint_SetCollideConnected :: proc(jointId: JointId, shouldCollide: bool) ---
 
@@ -1285,6 +1304,21 @@ foreign lib {
 	// Get the current constraint torque for this joint. Usually in Newton * meters.
 	Joint_GetConstraintTorque :: proc(jointId: JointId) -> f32 ---
 
+	// Get the current linear separation error for this joint. Does not consider admissible movement. Usually in meters.
+	Joint_GetLinearSeparation :: proc(jointId: JointId) -> f32 ---
+
+	// Get the current angular separation error for this joint. Does not consider admissible movement. Usually in meters.
+	Joint_GetAngularSeparation :: proc(jointId: JointId) -> f32 ---
+
+	// Get the joint constraint tuning. Advanced feature.
+	Joint_GetConstraintTuning :: proc(jointId: JointId, hertz: ^f32, dampingRatio: ^f32) ---
+
+	// Set the joint constraint tuning. Advanced feature.
+	// @param jointId the joint
+	// @param hertz the stiffness in Hertz (cycles per second)
+	// @param dampingRatio the non-dimensional damping ratio (one for critical damping)
+	Joint_SetConstraintTuning :: proc(jointId: JointId, hertz: f32, dampingRatio: f32) ---
+
 	/**
 	 * @defgroup distance_joint Distance Joint
 	 * @brief Functions for the distance joint.
@@ -1379,7 +1413,8 @@ foreign lib {
 	// Get the motor joint linear offset target
 	MotorJoint_GetLinearOffset     :: proc(jointId: JointId) -> Vec2 ---
 
-	// Set the motor joint angular offset target in radians
+	// Set the motor joint angular offset target in radians. This angle will be unwound
+	// so the motor will drive along the shortest arc.
 	MotorJoint_SetAngularOffset    :: proc(jointId: JointId, angularOffset: f32) ---
 
 	// Get the motor joint angular offset target in radians
@@ -1415,31 +1450,37 @@ foreign lib {
 
 	// Create a mouse joint
 	//	@see b2MouseJointDef for details
-	CreateMouseJoint                 :: proc(worldId: WorldId, #by_ptr def: MouseJointDef) -> JointId ---
+	CreateMouseJoint                    :: proc(worldId: WorldId, #by_ptr def: MouseJointDef) -> JointId ---
 
 	// Set the mouse joint target
-	MouseJoint_SetTarget             :: proc(jointId: JointId, target: Vec2) ---
+	MouseJoint_SetTarget                :: proc(jointId: JointId, target: Vec2) ---
 
 	// Get the mouse joint target
-	MouseJoint_GetTarget             :: proc(jointId: JointId) -> Vec2 ---
+	MouseJoint_GetTarget                :: proc(jointId: JointId) -> Vec2 ---
 
 	// Set the mouse joint spring stiffness in Hertz
-	MouseJoint_SetSpringHertz        :: proc(jointId: JointId, hertz: f32) ---
+	MouseJoint_SetSpringHertz           :: proc(jointId: JointId, hertz: f32) ---
 
 	// Get the mouse joint spring stiffness in Hertz
-	MouseJoint_GetSpringHertz        :: proc(jointId: JointId) -> f32 ---
+	MouseJoint_GetSpringHertz           :: proc(jointId: JointId) -> f32 ---
 
 	// Set the mouse joint spring damping ratio, non-dimensional
-	MouseJoint_SetSpringDampingRatio :: proc(jointId: JointId, dampingRatio: f32) ---
+	MouseJoint_SetSpringDampingRatio    :: proc(jointId: JointId, dampingRatio: f32) ---
 
 	// Get the mouse joint damping ratio, non-dimensional
-	MouseJoint_GetSpringDampingRatio :: proc(jointId: JointId) -> f32 ---
+	MouseJoint_GetSpringDampingRatio    :: proc(jointId: JointId) -> f32 ---
+
+	// Set the prismatic joint sprint target angle, usually in meters
+	PrismaticJoint_SetTargetTranslation :: proc(jointId: JointId, translation: f32) ---
+
+	// Get the prismatic joint sprint target translation, usually in meters
+	PrismaticJoint_GetTargetTranslation :: proc(jointId: JointId) -> f32 ---
 
 	// Set the mouse joint maximum force, usually in newtons
-	MouseJoint_SetMaxForce           :: proc(jointId: JointId, maxForce: f32) ---
+	MouseJoint_SetMaxForce              :: proc(jointId: JointId, maxForce: f32) ---
 
 	// Get the mouse joint maximum force, usually in newtons
-	MouseJoint_GetMaxForce           :: proc(jointId: JointId) -> f32 ---
+	MouseJoint_GetMaxForce              :: proc(jointId: JointId) -> f32 ---
 
 	/**@}*/
 
@@ -1585,7 +1626,7 @@ foreign lib {
 	RevoluteJoint_GetUpperLimit         :: proc(jointId: JointId) -> f32 ---
 
 	// Set the revolute joint limits in radians. It is expected that lower <= upper
-	// and that -0.95 * B2_PI <= lower && upper <= -0.95 * B2_PI.
+	// and that -0.99 * B2_PI <= lower && upper <= -0.99 * B2_PI.
 	RevoluteJoint_SetLimits             :: proc(jointId: JointId, lower, upper: f32) ---
 
 	// Enable/disable a revolute joint motor
@@ -1625,12 +1666,6 @@ foreign lib {
 	//	@see b2WeldJointDef for details
 	CreateWeldJoint                  :: proc(worldId: WorldId, #by_ptr def: WeldJointDef) -> JointId ---
 
-	// Get the weld joint reference angle in radians
-	WeldJoint_GetReferenceAngle      :: proc(jointId: JointId) -> f32 ---
-
-	// Set the weld joint reference angle in radians, must be in [-pi,pi].
-	WeldJoint_SetReferenceAngle      :: proc(jointId: JointId, angleInRadians: f32) ---
-
 	// Set the weld joint linear stiffness in Hertz. 0 is rigid.
 	WeldJoint_SetLinearHertz         :: proc(jointId: JointId, hertz: f32) ---
 

vendor/box2d/build_box2d.sh

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 set -eu
 
-VERSION="3.1.0"
+VERSION="3.1.1"
 RELEASE="https://github.com/erincatto/box2d/archive/refs/tags/v$VERSION.tar.gz"
 
 cd "$(dirname "$0")"

vendor/box2d/collision.odin

@@ -49,7 +49,7 @@ ShapeCastInput :: struct {
 	canEncroach: bool,
 }
 
-// Low level ray cast or shape-cast output data
+// Low level ray cast or shape-cast output data. Returns a zero fraction and normal in the case of initial overlap.
 CastOutput :: struct {
 	// The surface normal at the hit point
 	normal:     Vec2,
@@ -227,7 +227,7 @@ DistanceInput :: struct {
 DistanceOutput :: struct {
 	pointA:       Vec2, // Closest point on shapeA
 	pointB:       Vec2, // Closest point on shapeB
-	normal:       Vec2, // Normal vector that points from A to B
+	normal:       Vec2, // Normal vector that points from A to B. Invalid if distance is zero.
 	distance:     f32,  // The final distance, zero if overlapped
 	iterations:   i32,  // Number of GJK iterations used
 	simplexCount: i32,  // The number of simplexes stored in the simplex array
@@ -459,6 +459,9 @@ PlaneResult :: struct {
 	// The collision plane between the mover and convex shape
 	plane: Plane,
 
+	// The collision point on the shape.
+	point: Vec2,
+
 	// Did the collision register a hit? If not this plane should be ignored.
 	hit:   bool,
 }
@@ -482,8 +485,8 @@ CollisionPlane :: struct {
 
 // Result returned by b2SolvePlanes
 PlaneSolverResult :: struct {
-	// The final position of the mover
-	position:       Vec2,
+	// The translation of the mover
+	translation:    Vec2,
 
 	// The number of iterations used by the plane solver. For diagnostics.
 	iterationCount: i32,

vendor/box2d/id.odin

@@ -86,3 +86,16 @@ ID_EQUALS :: #force_inline proc "c" (id1, id2: $T) -> bool
 	      intrinsics.type_has_field(T, "generation") {
 	return id1.index1 == id2.index1 && id1.world0 == id2.world0 && id1.generation == id2.generation
 }
+
+// Store a world id into a u32.
+StoreWorldId :: #force_inline proc "c" (id: WorldId) -> u32 {
+	return (u32(id.index1) << 16) | u32(id.generation)
+}
+
+// Load a u32 into a world id.
+LoadWorldId :: #force_inline proc "c" (x: u32) -> WorldId {
+	return {
+		u16(x >> 16),
+		u16(x),
+	}
+}

vendor/box2d/math_functions.odin

@@ -415,31 +415,10 @@ RelativeAngle :: proc "c" (b, a: Rot) -> f32 {
 	return Atan2(s, c)
 }
 
-// Convert an angle in the range [-2*pi, 2*pi] into the range [-pi, pi]
+// Convert any angle into the range [-pi, pi]
 @(require_results)
 UnwindAngle :: proc "c" (radians: f32) -> f32 {
-	if radians < -PI {
-		return radians + 2.0 * PI
-	} else if radians > PI {
-		return radians - 2.0 * PI
-	}
-	return radians
-}
-
-// Convert any into the range [-pi, pi] (slow)
-@(require_results)
-UnwindLargeAngle :: proc "c" (radians: f32) -> f32 {
-	radians := radians
-
-	for radians > PI {
-		radians -= 2. * PI
-	}
-
-	for radians < -PI {
-		radians += 2. * PI
-	}
-
-	return radians
+	return math.remainder(radians, 2. * PI)
 }
 
 // Rotate a vector
@@ -563,6 +542,17 @@ AABB_Union :: proc "c" (a, b: AABB) -> (c: AABB) {
 	return
 }
 
+// Do a and b overlap
+@(require_results)
+AABB_Overlaps :: proc "c" (a, b: AABB) -> bool {
+	return !(
+		b.lowerBound.x > a.upperBound.x ||
+		b.lowerBound.y > a.upperBound.y ||
+		a.lowerBound.x > b.upperBound.x ||
+		a.lowerBound.y > b.upperBound.y \
+	)
+}
+
 // Compute the bounding box of an array of circles
 @(require_results)
 MakeAABB :: proc "c" (points: []Vec2, radius: f32) -> AABB {
@@ -625,3 +615,15 @@ IsValidPlane :: proc "c" (plane: Plane) -> bool {
 	IsNormalized(plane.normal) or_return
 	return true
 }
+
+// One-dimensional mass-spring-damper simulation. Returns the new velocity given the position and time step.
+// You can then compute the new position using:
+// position += timeStep * newVelocity
+// This drives towards a zero position. By using implicit integration we get a stable solution
+// that doesn't require transcendental functions.
+@(require_results)
+b2SpringDamper :: proc "c" (hertz, dampingRatio, position, velocity, timeStep: f32) -> f32 {
+	omega  := 2. * PI * hertz
+	omegaH := omega * timeStep
+	return (velocity - omega * omegaH * position) / (1. + 2. * dampingRatio * omegaH + omegaH * omegaH)
+}

vendor/box2d/types.odin

@@ -50,6 +50,7 @@ FrictionCallback :: #type proc "c" (frictionA: f32, userMaterialIdA: i32, fricti
 RestitutionCallback :: #type proc "c" (restitutionA: f32, userMaterialIdA: i32, restitutionB: f32, userMaterialIdB: i32) -> f32
 
 // Result from b2World_RayCastClosest
+// If there is initial overlap the fraction and normal will be zero while the point is an arbitrary point in the overlap region.
 // @ingroup world
 RayResult :: struct {
 	shapeId:    ShapeId,
@@ -87,12 +88,6 @@ WorldDef :: struct {
 	// decreasing the damping ratio.
 	maxContactPushSpeed: f32,
 
-	// Joint stiffness. Cycles per second.
-	jointHertz: f32,
-
-	// Joint bounciness. Non-dimensional.
-	jointDampingRatio: f32,
-
 	// Maximum linear speed. Usually meters per second.
 	maximumLinearSpeed: f32,
 
@@ -660,6 +655,10 @@ PrismaticJointDef :: struct {
 	// The constrained angle between the bodies: bodyB_angle - bodyA_angle
 	referenceAngle: f32,
 
+	// The target translation for the joint in meters. The spring-damper will drive
+	// to this translation.
+	targetTranslation: f32,
+
 	// Enable a linear spring along the prismatic joint axis
 	enableSpring: bool,
 
@@ -743,10 +742,10 @@ RevoluteJointDef :: struct {
 	// A flag to enable joint limits
 	enableLimit: bool,
 
-	// The lower angle for the joint limit in radians. Minimum of -0.95*pi radians.
+	// The lower angle for the joint limit in radians. Minimum of -0.99*pi radians.
 	lowerAngle: f32,
 
-	// The upper angle for the joint limit in radians. Maximum of 0.95*pi radians.
+	// The upper angle for the joint limit in radians. Maximum of 0.99*pi radians.
 	upperAngle: f32,
 
 	// A flag to enable the joint motor
@@ -988,6 +987,7 @@ ContactEndTouchEvent :: struct {
 }
 
 // A hit touch event is generated when two shapes collide with a speed faster than the hit speed threshold.
+// This may be reported for speculative contacts that have a confirmed impulse.
 ContactHitEvent :: struct {
 	// Id of the first shape
 	shapeIdA: ShapeId,
@@ -995,7 +995,9 @@ ContactHitEvent :: struct {
 	// Id of the second shape
 	shapeIdB: ShapeId,
 
-	// Point where the shapes hit
+	// Point where the shapes hit at the beginning of the time step.
+	// This is a mid-point between the two surfaces. It could be at speculative
+	// point where the two shapes were not touching at the beginning of the time step.
 	point: Vec2,
 
 	// Normal vector pointing from shape A to shape B
@@ -1103,17 +1105,18 @@ PreSolveFcn :: #type proc "c" (shapeIdA, shapeIdB: ShapeId, manifold: ^Manifold,
 //	@ingroup world
 OverlapResultFcn :: #type proc "c" (shapeId: ShapeId, ctx: rawptr) -> bool
 
-// Prototype callback for ray casts.
+// Prototype callback for ray and shape casts.
 // Called for each shape found in the query. You control how the ray cast
 // proceeds by returning a f32:
 // return -1: ignore this shape and continue
 // return 0: terminate the ray cast
 // return fraction: clip the ray to this point
 // return 1: don't clip the ray and continue
+// A cast with initial overlap will return a zero fraction and a zero normal.
 // @param shapeId the shape hit by the ray
 // @param point the point of initial intersection
-// @param normal the normal vector at the point of intersection
-// @param fraction the fraction along the ray at the point of intersection
+// @param normal the normal vector at the point of intersection, zero for a shape cast with initial overlap
+// @param fraction the fraction along the ray at the point of intersection, zero for a shape cast with initial overlap
 //	@param context the user context
 // @return -1 to filter, 0 to terminate, fraction to clip the ray for closest hit, 1 to continue
 // @see b2World_CastRay

vendor/box2d/wasm.Makefile

@@ -7,7 +7,7 @@
 # CC = $(shell brew --prefix llvm)/bin/clang
 # LD = $(shell brew --prefix llvm)/bin/wasm-ld
 
-VERSION   = 3.1.0
+VERSION   = 3.1.1
 SRCS      = $(wildcard box2d-$(VERSION)/src/*.c)
 OBJS_SIMD = $(SRCS:.c=_simd.o)
 OBJS      = $(SRCS:.c=.o)

vendor/libc/include/math.h

@@ -43,6 +43,8 @@ double tan(double);
 double atan2(double, double);
 double modf(double, double*);
 
+float remainderf(float x, float y);
+
 bool __isnanf(float);
 bool __isnand(double);
 #define isnan(x)                                           \

vendor/libc/math.odin

@@ -204,3 +204,8 @@ modf :: proc "c" (num: f64, iptr: ^f64) -> f64 {
 	iptr^ = integral
 	return fractional
 }
+
+@(require, linkage="strong", link_name="remainderf")
+remainderf :: proc "c" (x, y: f32) -> f32 {
+	return math.remainder(x, y)
+}